/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "yin.h"
#include "stdio.h" 
#include "L298N.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
int fputc(int ch, FILE *f) {
    uint8_t data = ch;
    HAL_UART_Transmit(&huart1, &data, 1, 100);
    return ch;
}


/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

const uint8_t gb_daxiaojie[] = {0xB4, 0xF3, 0xD0, 0xA1, 0xBD, 0xE3, 0xBC, 0xCD, 0xB5, 0xBD, 0xCD, 0xA8, 0xCD, 0xA8, 0xC9, 0xC1, 0xBF, 0xAA, 0x00}; // "大小姐嫁到通通闪开"
	const uint8_t gb_tongxuemen[] = {0xCD, 0xAC, 0xD1, 0xA7, 0xC3, 0xC7, 0xD0, 0xC2, 0xBF, 0xE0, 0xC1, 0xCB, 0x00}; // "同学们辛苦了"
const uint8_t gb_rang_kai[] = {0xC8, 0xC3, 0xBF, 0xAA, 0xC8, 0xC3, 0xBF, 0xAA, 0x00}; 


/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void ccc(int speed, char direction) {
    if(direction == '1') { // 直走
        L298N_MotorControl(MOTOR_A, MOTOR_BACKWARD, speed);
        L298N_MotorControl(MOTOR_B, MOTOR_FORWARD, speed);
    }
    else if(direction == '2') { // 左转
        L298N_MotorControl(MOTOR_A, MOTOR_BACKWARD, speed);
        L298N_MotorControl(MOTOR_B, MOTOR_BACKWARD, speed);
    }
    else if(direction == '3') { // 右转
        L298N_MotorControl(MOTOR_A, MOTOR_FORWARD, speed);
        L298N_MotorControl(MOTOR_B, MOTOR_FORWARD, speed);
    }
    else if(direction == '4') { // 后退
        L298N_MotorControl(MOTOR_A, MOTOR_FORWARD, speed);
        L298N_MotorControl(MOTOR_B, MOTOR_BACKWARD, speed);
    }
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM2_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */

   L298N_Init(&htim2);
	  uint8_t rx_data;
	int speed= 20;
	
	//'0'停止, '1'直走, '2'左转, '3'右转, '4'后退
	char tai='0';
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
		
		   //   YIN_Speech_GB(gb_temperature);
		//  YIN_Speech_GB(gb_rang_kai);
     // HAL_Delay(3000);
		
		
		
		
			if(HAL_UART_Receive(&huart1, &rx_data, 1, 100) == HAL_OK)
		{
		

	
			
			
			//直走
		 if(rx_data == '1')
     {
				// 直接控制电机，硬件PWM会自动处理
	

			 
				L298N_MotorControl(MOTOR_A, MOTOR_BACKWARD, speed);
			
				L298N_MotorControl(MOTOR_B,  MOTOR_FORWARD, speed);
					printf("%d\n", speed);
			
				tai='1';
				
			}
		 
			
			//停止
		  else if(rx_data == '0')
     {
				// 直接控制电机，硬件PWM会自动处理
			
				L298N_MotorControl(MOTOR_A, MOTOR_BACKWARD, 0);
			
				L298N_MotorControl(MOTOR_B, MOTOR_FORWARD, 0);
					printf("%d\n", speed);
			
				HAL_Delay(10);
				tai='0';
		 }
		 
			
			//左转
			else if(rx_data == '2')
     {
				// 直接控制电机，硬件PWM会自动处理
			
				L298N_MotorControl(MOTOR_A, MOTOR_BACKWARD, speed/2);
			
				L298N_MotorControl(MOTOR_B,  MOTOR_BACKWARD, speed/2);
					printf("%d\n", speed);
			
				
				tai='2';
			}
		 	
			//右转
			else if(rx_data == '3')
     {
				// 直接控制电机，硬件PWM会自动处理
			
				L298N_MotorControl(MOTOR_A, MOTOR_FORWARD, speed/2);
			
				L298N_MotorControl(MOTOR_B,  MOTOR_FORWARD, speed/2);
					printf("%d\n", speed);
			
				tai='3';
				
			}
		 
			
					//后退
			else if(rx_data == '4')
     {
				// 直接控制电机，硬件PWM会自动处理
			
				L298N_MotorControl(MOTOR_A, MOTOR_FORWARD, speed);
			
				L298N_MotorControl(MOTOR_B,  MOTOR_BACKWARD, speed);
					printf("%d\n", speed);
			
				tai='4';
				
			}
		 
		 //加速
			else if(rx_data == 'a')
			{
				if(speed<100){
				speed +=10;}
					
				ccc(speed, tai);
		}
				
			
			else if(rx_data == 'b')
			{
				if(speed>=10){
				speed -=10;}
				
				 			
				ccc(speed, tai);
				
					
			}
						
					else if(rx_data == 'c')
			{
					if(!YIN_IsPlaying()) {
							YIN_Speech(gb_daxiaojie);  // 改为 YIN_Speech
					}
					ccc(speed, tai);
			}
			else if(rx_data == 'e')
			{
					if(!YIN_IsPlaying()) {
							YIN_Speech(gb_rang_kai);  // 改为 YIN_Speech
					}
					ccc(speed, tai);
			}
			else if(rx_data == 'f')
			{
					if(!YIN_IsPlaying()) {
							YIN_Speech(gb_tongxuemen);  // 改为 YIN_Speech
					}
					ccc(speed, tai);
			}
									
			
		 

			
			
				HAL_Delay(10);
		}
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
